/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_SENSOR_INTERNAL_DISPATCHABLE_H_
#define CARTOGRAPHER_SENSOR_INTERNAL_DISPATCHABLE_H_

#include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer/sensor/data.h"

namespace cartographer
{
    namespace sensor
    {
        template<typename DataType> class Dispatchable : public Data
        {
        public:
            Dispatchable(const std::string &sensor_id, const DataType &data)
                : Data(sensor_id)
                , data_(data)
            {
            }

            common::Time GetTime() const override
            {
                return data_.time;
            }
            void AddToTrajectoryBuilder(mapping::TrajectoryBuilderInterface *const trajectory_builder) override
            {
                trajectory_builder->AddSensorData(sensor_id_, data_);
            }
            const DataType &data() const
            {
                return data_;
            }

        private:
            const DataType data_;
        };

        template<typename DataType>
        std::unique_ptr<Dispatchable<DataType>> MakeDispatchable(const std::string &sensor_id, const DataType &data)
        {
            return absl::make_unique<Dispatchable<DataType>>(sensor_id, data);
        }
    } // namespace sensor
} // namespace cartographer

#endif // CARTOGRAPHER_SENSOR_INTERNAL_DISPATCHABLE_H_
